Colin Taylor — accepted AI-conference papers

2025

Hybrid Theta$*$: Motion Planning for Dubins Vehicles With Integral Constraints

Satyanarayana G. Manyam, David W. Casbeer, Colin Taylor

RA-L 2025

We consider a motion planning problem for vehicles with curvature constraints, such as minimum turn radius, and a secondary cost such as resource cost. Traditional motion planning problems address the secondary cost as a soft constraint within the cost function. In the current paper, we take a diffe

Cited by 2 Source ↗Scholar ↗

2021

Trajectory Optimization For Rendezvous Planning Using Quadratic Bézier Curves

Satyanarayana G. Manyam, David W. Casbeer, Isaac E. Weintraub, Colin Taylor

IROS 2021poster

In this paper, we consider a trajectory planning problem where an autonomous vehicle aims to rendezvous with another cooperating vehicle in minimum time. The first vehicle has kinematic constraints, consequently feasible trajectories must have a maximum curvature less than a specified limit. Rendezv…

Cited by 20 Source ↗Scholar ↗